CN102636184A - Specific force-sensitive term calibration method for flexible gyroscope based on centrifuge in environment without angular movement - Google Patents

Abstract

The invention discloses a method for calibrating the specific force sensitive item of a flexible gyroscope in an environment without angular motion, and belongs to the technical field of inertia. In the present invention, the follow-up inversion table is installed on the table of the centrifuge, and the output pulse data of the sensitive shaft of the flexible gyro under the initial static state and overload condition are collected; according to the overload acceleration selected in advance, the centrifuge speed is set to obtain different environmental conditions Flexible gyro output data under overload acceleration; calculation of overload term coefficients. The invention can calibrate the relationship between the specific force sensitive error item contained in the static drift model of the flexible gyroscope and the environmental overload acceleration, and accurately compensate the specific force sensitive drift error of the flexible gyroscope through the look-up table method, thereby reducing the ratio of the flexible gyroscope Effect of force-sensitive error on navigation accuracy of a flexible strapdown inertial system.

Description

Calibration method of specific force sensitive term of flexible gyroscope based on centrifuge in the environment of no angular motion

technical field

The invention belongs to the technical field of inertia, and relates to a method for calibrating the specific force sensitive item of a flexible gyroscope, in particular, it refers to a method for calibrating the specific force sensitive item of a flexible gyroscope based on a centrifuge in a non-angular motion environment. the

Background technique

The flexible gyroscope is a mechanical two-degree-of-freedom gyroscope. The motor shaft of its drive motor drives the rotor to rotate at high speed through a flexible joint. The flexible joint includes 2 pairs of mutually orthogonal flexible connection shafts and a balance ring. ,As shown in Figure 1. Since its inception, flexible gyroscopes have been widely used in various navigation, guidance and control systems. the

In practical applications, there are drift errors in the angular velocity measurement value of the flexible gyroscope due to various internal and external factors, generally composed of static drift error, dynamic drift error and random drift error, among which the linear motion caused The static drift error is the main part of the drift error of the flexible gyro, and it is also the main factor of the error of the flexible strapdown inertial navigation system. The static drift error mathematical model of the flexible gyroscope includes the drift error term which is not sensitive to contrast force and the drift error term which is sensitive to contrast force. the

In practical applications, the error model of the flexible gyroscope can be expressed as:

ω(X) _d ＝K(X) _d

+K(X) _x a _x +K(X) _y a _y

ω(Y) _d ＝K(Y) _d

+K(Y) _x a _x +K(Y) _y a _y

Among them, ω(X) _d , ω(Y) _d ——the drift rate error of the gyroscope, unit: °/h;

K(X) _d , K(Y) _d ——constant drift coefficient, independent of specific force, unit: °/h;

K(X) _x , K(X) _y , K(Y) _x , K(Y) _y —— specific force sensitivity coefficient, unit: (°/h)/g;

a _x , a _y —— specific force along the corresponding axis of the gyroscope, unit: g;

The existing flexible gyroscope or flexible inertial group calibration adopts a static multi-position calibration method, using a position table to make the flexible gyroscope face a certain direction, taking the earth’s rotational angular velocity ω _e and the local standard gravitational acceleration g ₀ as references, The error term coefficient of the flexible gyroscope is calculated by joint solution of multiple equations. The static multi-position calibration method can obtain the constant value drift coefficient and the specific force sensitivity coefficient of the flexible gyroscope under the environment of 0-1g, and it is considered that the coefficient remains linear under the high overload environment. In practical application, when the flexible gyroscope or flexible inertial group is used in a large overload environment, the ground multi-position static calibration results are used for compensation, and the actual use accuracy is often far from the theoretical calculation value. This is probably due to the change of the coefficient of the specific force sensitive term of the flexible gyroscope under a large overload environment.

If the relationship between the specific force sensitivity coefficient of the flexible gyroscope and the environmental overload can be accurately obtained through the large overload test on the ground, the specific force sensitivity error of the flexible gyroscope can be accurately compensated in actual use, thereby improving the flexibility of the strapdown inertia. The actual navigation performance of the guidance system has very important practical value. the

The Chinese invention patent with the application number 200810101156.3 discloses an optimal eight-position calibration method for a flexible gyroscope, which is to install the flexible gyroscope on a two-axis position-rate turntable, collect data at a specific orientation and calculate the flexibility Gyro Static Error Compensation Model. Through the comparison of the residual sum of squares of the gyroscope's measured values, the compensation result of the drift coefficient solved by the optimal eight-position test design method of the flexible gyroscope is 4 to 8 times higher than that of the traditional eight-position method. Disadvantages: It is essentially the same as the traditional static multi-position test method. It can only use the gravity field as the environmental overload excitation. The results obtained can only correspond to the performance parameters in the 1g environment, and the accurate value of the calibration coefficient in the large overload environment cannot be obtained. the

The Chinese invention patent with the authorized notification number CN 101377422B discloses a flexible gyroscope static drift error model optimal twenty-four position calibration method, which is to install the flexible gyroscope on a three-axis position rate turntable and adopt discrete D- The optimal design and construction method is used for design, and twenty-four spatial position orientations are selected from the entire test space as the orientation of the gyroscope coordinate system and tested. Compared with the optimal eight-position method, the optimal twenty-four-position test can not only calibrate the acceleration irrelevant item and the first-order related item of acceleration, but also obtain the drift coefficient of the second-order related item of acceleration. Disadvantages: It is essentially the same as the traditional static multi-position test method. It can only use the gravity field as the environmental overload excitation. Although the effect is better than that of eight positions, the results obtained can only correspond to the performance parameters in the 1g environment, and cannot obtain the large overload environment. The exact value of the subscaling factor. Under the environment of no more than 1g, the quadratic related item of acceleration is small, and it is difficult to effectively distinguish it from the environmental disturbance, so the reliability of the result is not high. the

Application publication number CN 101738203A Chinese invention patent discloses a flexible gyroscope static drift zero-order and first-order acceleration related item error model optimal position calibration method, which uses the D-optimal test design method to obtain the optimal test position. Under the optimal spatial orthogonal twelve positions, the measured value compensation of the obtained optimal spatial orthogonal twelve position drift coefficients and the static error compensation model Go of the flexible gyroscope can effectively improve the output of the flexible gyroscope. Using the optimal space orthogonal 12-position test design method of the flexible gyroscope to solve the drift coefficient after compensation is 4 to 5 times higher than the traditional 8-position method, and the accuracy is better than the full-space orthogonal 24-position test method. improved and cut test time in half. Disadvantages: Although the effect is better than the optimized eight positions and optimized twenty-four positions, it is essentially the same as the traditional static multi-position test method. It can only use the gravity field as the environmental overload excitation, and the obtained results can only be expressed in the 1g environment. , the accurate value of the calibration coefficient under the large overload environment exceeding 1g cannot be obtained. the

Contents of the invention

The purpose of the present invention is to obtain the relationship between the coefficient of the flexible gyroscope's specific force sensitive error term and the environmental overload acceleration through the calibration test under the ground high overload environment, realize the accurate compensation of the flexible gyroscope's specific force sensitive error, and reduce the flexibility. Influence of Gyro Specific Force Sensitivity Error on Accuracy of Flexible Strapdown Inertial System. the

The method for calibrating the specific force sensitive item of the flexible gyroscope under the environment without angular motion provided by the present invention specifically includes the following steps:

The first step: the follow-up inversion table (referred to as the inversion table) is installed on the table of the centrifuge, and a counterweight is also arranged on the table, and the counterweight and the inversion table are symmetrically distributed on the same diameter of the centrifuge table superior. A flexible gyro is installed on the countertop of the reversing table. The rotating shaft of the reversing table is parallel to the rotating shaft of the centrifuge. When the centrifuge rotates at a certain speed, the reversing table can rotate in the opposite direction relative to the centrifuge. The power supply and output data signal of the flexible gyroscope are connected to the power supply and the data acquisition computer through the slip ring of the inverting table and the centrifuge. the

Step 2: through the control interface of the centrifuge, control the centrifuge and the inversion table at their zero positions respectively and keep them still. At this time, the sensitive axis X of the flexible gyro points to the local geographical north. Then, the flexible gyro is powered on, and it is warmed up and stabilized for 10 minutes. the

Step 3: Open the acquisition software in the data acquisition computer and start collecting the output of the flexible gyro sensitive axis X axis and sensitive axis Y axis. The acquisition time is not less than 3 minutes, and the initial static state of the flexible gyro sensitive axis X axis and the sensitive axis Y axis are obtained. The output pulse data of the axis;

Step 4: Make the centrifuge rotate at an angular velocity ω _t = ω ₀ (unit: °/s), and the reversing table rotate at an angular velocity -ω _t (unit: °/s), the angular acceleration of both is ω _a , Unit: °/s ² . The environmental overload acceleration amplitude felt by the sensitive axis of the flexible gyro is:

${\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 180</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}$

Among them, R is the distance from the rotation axis of the reversing table to the rotation axis of the centrifuge, in m; g ₀ is the local standard gravitational acceleration, in m/s ² ;

Step 5: After the speed of the centrifuge and the inversion table is stable, collect the output pulse data of the flexible gyro sensitive axis X axis and sensitive axis Y axis for 15 minutes, and obtain the output pulse data of the flexible gyro sensitive axis X axis and sensitive axis Y axis under overload conditions. output pulse data;

重复第四步和第五步，获得不同环境过载加速度下的挠性陀螺输出数据；  Step 6: Set the rotational speed of the centrifuge according to the pre-selected overload acceleration a _i , i=1, 2, 3, ... n

Repeat the fourth and fifth steps to obtain the output data of the flexible gyroscope under different environmental overload accelerations;

Step 7: After the test is completed, shut down the centrifuge and the inversion table, stop data collection, and power off the flexible gyroscope;

Step 8: Calculate the coefficient of the overload term:

The invention can calibrate the relationship between the specific force sensitive error item contained in the static drift model of the flexible gyroscope and the environmental overload acceleration, and accurately compensate the specific force sensitive drift error of the flexible gyroscope through the look-up table method, thereby reducing the ratio of the flexible gyroscope Effect of force-sensitive error on navigation accuracy of a flexible strapdown inertial system. the

Description of drawings

Fig. 1 is the structure schematic diagram of flexible gyro mechanical rotor and flexible joint in the prior art;

Fig. 2 is a structural schematic diagram of a centrifuge with a moving inversion table used in the present invention. the

In the picture:

1. Centrifuge; 2. Centrifuge table; 3. Reversing table; 4. Counterweight; 5. Table of reversing table; 6. Flexible top. the

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments. the

The invention provides a centrifuge-based method for calibrating the specific force sensitive items of the flexible gyroscope in an environment without angular movement, using a centrifuge with a follow-up reversing table to provide a high overload input for the flexible gyroscope, and the high overload input is tested The upward projection of the flexible gyroscope presents a sine or cosine change; the first-order specific force sensitive error coefficient of the flexible gyroscope is obtained by Fourier series decomposition. The specific steps of this calibration method are as follows:

The first step: the main equipment that the present invention adopts is the centrifuge 1 with follow-up inversion table 3 (abbreviation inversion table), as shown in Figure 2, described inversion table 3 is installed on the table top 2 of centrifuge 1 On, and on the table 2 of the centrifuge 1, a counterweight 4 is also arranged, and the counterweight 4 and the inversion table 3 are symmetrically distributed on the same diameter on the table 2 of the centrifuge. A flexible gyroscope 6 is installed on the table 5 of the inversion table 3, and the rotation axis of the inversion table 3 is parallel to the rotation axis of the centrifuge 1. When the centrifuge 1 rotates at a certain speed, the inversion table 3 can be relatively Rotate in the opposite direction. Before the test test, use a horizontal calibration instrument to adjust the table top 5 of the inversion table 3 and the table top 2 of the centrifuge 1 to be parallel to the horizontal plane, and then install the flexible gyroscope 6 on the table top 5 of the inversion table 3 through tooling, so that the flexible gyro Both the sensitive axis X and the sensitive axis Y of the gyroscope 6 are parallel to the horizontal plane, and the rotation axis of the flexible gyroscope 6 coincides with the rotation axis of the reversing table 3 . The power supply and output data signal of the flexible gyroscope 6 are connected to the power supply and the data acquisition computer through the slip ring of the inverting table 3 and the centrifuge 1 . the

The second step: through the control interface of the centrifuge 1, the centrifuge 1 and the inversion table 3 are respectively controlled at their zero positions and kept stationary. At this time, the sensitive axis X of the flexible gyro points to the local geographical north. Then, the flexible gyro is powered on, and it is warmed up and stabilized for 10 minutes. the

Step 3: Open the acquisition software in the data acquisition computer and start collecting the output of the flexible gyro sensitive axis X axis and sensitive axis Y axis. The acquisition time is not less than 3 minutes, and the initial static state of the flexible gyro sensitive axis X axis and the sensitive axis Y axis are obtained. The output pulse data of the axis;

Step 4: Make the centrifuge 1 rotate at an angular velocity ω _t = ω ₀ (unit: °/s), and the reversing table 3 rotate at an angular velocity -ω _t (unit: °/s), and the angular acceleration of both is ω _a , unit: °/s ² . The environmental overload acceleration amplitude felt by the sensitive axis of the flexible gyro is:

${\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 180</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}$

Among them, R is the distance from the rotation axis of the reversing table to the rotation axis of the centrifuge, in m; g ₀ is the local standard gravitational acceleration, in m/s ² ;

Step 5: After the rotation speed of centrifuge 1 and inversion table 3 is stable, collect the output pulse data of the flexible gyro sensitive axis X axis and sensitive axis Y axis for 15 minutes, and obtain the flexible gyro sensitive axis X axis and sensitive axis Y axis under overload conditions The output pulse data of the axis;

i＝1，2，3，…n，重复第四步和第五步，获得不同过载加速度下的挠性陀螺输出脉冲数据。  Step 6: Set the centrifuge speed according to the pre-selected overload acceleration a _i

i=1, 2, 3,...n, repeat the fourth and fifth steps to obtain the output pulse data of the flexible gyroscope under different overload accelerations.

Step 7: After the test is completed, the centrifuge and the inversion table are shut down, the data collection is stopped, and the flexible gyroscope is powered off. the

Step 8: Calculate the coefficient of the overload term:

Convert the flexible gyroscope pulse output data collected in the third step to the sixth step into angular velocity data by using the flexible gyroscope scale factor obtained in advance calibration;

Calculate the average value of the converted output data of the flexible gyroscope's sensitive axis X axis and sensitive axis Y axis under the initial static state in the third step. the

Subtract the corresponding average value of the output data after the initial static conversion of the output data of the flexible gyroscope sensitive axis X axis and sensitive axis Y axis in the overload environment of the fifth step and the sixth step respectively. the

截取的数据个数N_i满足 

其中t为采样周期，m为大于500的正整数， 

为过载加速度a_i处的数据采集时间；ω_i为反转台的转速，即角速度值，i＝1，2，3，…n；j＝1，2，3，…N_i。  For the flexible gyroscope X-axis data D _ij (X) and Y-axis data D _ij (Y) of different overload accelerations a _i minus the initial static average value, intercept the whole cycle data respectively, and the period

The number of intercepted data N _i satisfies

Where t is the sampling period, m is a positive integer greater than 500,

is the data collection time at the overload acceleration a _i ; ω _i is the rotational speed of the inversion table, that is, the angular velocity value, i=1, 2, 3,...n; j=1, 2, 3,...N _i .

Perform Fourier series decomposition calculation on the intercepted flexible gyro X-axis and Y-axis data under each overload acceleration:

${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; xi</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; yi</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}$

${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; xi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; xi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}$

${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; yi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; yi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}$

Obtain Fourier series zero-order items A _0xi and A _0yi , first-order cosine harmonic item coefficients A _1xi and A _1yi , and first-order sine harmonic item coefficients B _1xi and B _1yi ; where, i=1, 2, 3 , . . . n; j=1, 2, 3, . . . N _i .

Find the constant value drift K(X) _di , K(Y) _di and specific force sensitive items K(X) _xi , K(X) _yi , K(Y) _yi , K of the flexible gyroscope under different overload acceleration a _i (Y) _xi :

K(X) _di ＝A _0xi -ω _ie cosφ K(Y) _di ＝A _0yi

For the X axis: K(X) _xi = A _1xi /a _i For the Y axis: K(Y) _yi = A _1yi /a _i

K(X) _yi ＝-B _1xi /a _i K(Y) _xi ＝-B _1yi /a _i

Among them, ω _ie is the rotation speed of the earth, φ is the local geographic latitude, for K(X) _di , K(Y) _di , K(X) _xi , K(X) _yi , K(Y) _yi , K(Y) _xi and the corresponding overload acceleration a _i are tabulated. In application, the compensation value of the specific force sensitivity coefficient of the flexible gyroscope under different environmental overload accelerations can be obtained by looking up the table.

Through the above method, it can be seen that the method for calibrating the specific force sensitive item of the flexible gyroscope under the environment of no angular motion provided by the present invention, the inverting table rotates in the opposite direction with respect to the centrifuge at the same speed so that the flexible gyroscope maintains a state of no angular motion relative to the earth, By changing the rotation speed of the centrifuge and the reversing table, the overload acceleration is applied to the flexible gyroscope, and the output data of the flexible gyroscope is decomposed and processed by Fourier series, and finally the constant value drift of the flexible gyroscope under different overloads is obtained Coefficients and specific force sensitivity coefficients. The invention can achieve the purpose of calibrating the constant value drift coefficient and the coefficient of the specific force sensitive item of the flexible gyroscope under any overload acceleration, and compensates the output of the flexible gyroscope according to the calibration result in practical application, so as to improve the performance of the flexible gyroscope in a high overload environment. Under the actual use accuracy. the

Claims (3)

1. The method for calibrating the specific force sensitive item of the flexible gyroscope under the no-angle motion environment is characterized in that: Step 1: The reverse table is installed on the centrifuge table of the centrifuge, and the flexible gyroscope is installed on the table of the reverse table. The rotation axis of the reverse table is parallel to the rotation axis of the centrifuge. When the centrifuge rotates at a certain speed , the reverse table can rotate in the opposite direction relative to the centrifuge; the power supply and output data signal of the flexible gyroscope are connected to the power supply and data acquisition computer through the slip ring of the reverse table and the centrifuge; The second step: through the control interface of the centrifuge, control the centrifuge and the inversion table at their zero positions respectively and keep them still. At this time, the sensitive axis X of the flexible gyro points to the local geographical north; then, the flexible gyro is powered on, Preheat and stabilize for 10 minutes; Step 3: Open the acquisition software in the data acquisition computer and start collecting the output of the flexible gyro sensitive axis X axis and sensitive axis Y axis. The acquisition time is not less than 3 minutes, and the initial static state of the flexible gyro sensitive axis X axis and the sensitive axis Y axis are obtained. The output pulse data of the axis; Step 4: Make the centrifuge rotate at an angular velocity ω _t = ω ₀ , the inversion table rotate at an angular velocity -ω _t , and the amplitude of the environmental overload acceleration felt by the sensitive axis of the flexible gyroscope is: ${\mathrm{<span\; class="notranslate">\; a</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; \&CenterDot;</span>\mathrm{<span\; class="notranslate">\; \&pi;</span>}}{\mathrm{<span\; class="notranslate">\; 180</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; g</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}$ Among them, R is the distance from the rotation axis of the reversing table to the rotation axis of the centrifuge, in m; g ₀ is the local standard gravitational acceleration, in m/s ² ; Step 5: After the speed of the centrifuge and the inversion table is stable, collect the output pulse data of the flexible gyro sensitive axis X axis and sensitive axis Y axis for 15 minutes, and obtain the output pulse data of the flexible gyro sensitive axis X axis and sensitive axis Y axis under overload conditions. output pulse data; Step 6: Set the centrifuge speed according to the pre-selected overload acceleration a _i

i=1, 2, 3,...n, repeat the fourth and fifth steps to obtain the output data of the flexible gyroscope under different environmental overload accelerations; Step 7: After the test is completed, shut down the centrifuge and the inversion table, stop data collection, and power off the flexible gyroscope; Step 8: Calculate the overload term coefficient. 2. the method for calibrating the flexible gyroscope's specific force sensitive item under the described non-angular motion environment of claim 1, is characterized in that: the counterweight is also arranged on the described centrifuge table, and the counterweight and the reversing table Symmetrically distributed on the same diameter on the centrifuge table. 3. the flexible gyroscope specific force sensitive term calibration method under the described no-angle motion environment of claim 1 is characterized in that: the described calculation overload term coefficient is specifically: Convert the flexible gyroscope pulse volume data collected in the third step to the sixth step into angular velocity data by using the flexible gyroscope calibration factor obtained in advance; Calculate the average value of the converted output data of the flexible gyroscope sensitive axis X axis and sensitive axis Y axis under the initial static state of the third step; Subtract the corresponding output data average value of the initial static conversion of the axis from the converted output data of the flexible gyroscope sensitive axis X axis and sensitive axis Y axis under the overload environment of the fifth step and the sixth step; For the flexible gyroscope X-axis data D _ij (X) and Y-axis data D _ij (Y) of different overload accelerations a _i minus the initial static average value, intercept the whole cycle data respectively, and the period

The number of intercepted data N _i satisfies

Where t is the sampling period, m is a positive integer greater than 500, is the data acquisition time at the overload acceleration a _i ; ω _i is the rotational speed of the inversion table, that is, the angular velocity value, i=1, 2, 3,...n; Perform Fourier series decomposition calculation on the intercepted flexible gyro X-axis and Y-axis data under each overload acceleration: ${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; xi</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}\mathrm{<span\; class="notranslate">\; yi</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}$ ${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; xi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; xi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}$ ${\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; yi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}\mathrm{<span\; class="notranslate">\; yi</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; (</span>\underset{\mathrm{<span\; class="notranslate">\; j</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}}{\mathrm{<span\; class="notranslate">\; \&Sigma;</span>}}}{\mathrm{<span\; class="notranslate">\; D.</span>}}_{\mathrm{<span\; class="notranslate">\; ij</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sin</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; j\&pi;\&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 180</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; /</span>{\mathrm{<span\; class="notranslate">\; N</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}}$ Obtain Fourier series zero-order items A _0xi and A _0yi , first-order cosine harmonic item coefficients A _1xi and A _1yi , and first-order sine harmonic item coefficients B _1xi and B _1yi ; where, i=1, 2, 3, ... n; j = 1, 2, 3, ... N _i ; Calculate the constant value drift and specific force sensitivity of the flexible gyroscope under different overload accelerations: K(X) _di ＝A _0xi -ω _ie cosφ K(Y) _di ＝A _0yi For the X axis: K(X) _xi = A _1xi /a _i For the Y axis: K(Y) _yi = A _1yi /a _i K(X) _yi ＝-B _1xi /a _i K(Y) _xi ＝-B _1yi /a _i Among them, ω _ie is the rotation speed of the earth, and φ is the local geographic latitude.

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